#!/bin/sh
#
# @name Axial SCX10 2 Trail Honcho
#
# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
#
# @type Rover
# @class Rover
#
# @board px4_fmu-v2 exclude
# @board bitcraze_crazyflie exclude
#

. ${R}etc/init.d/rc.rover_ackermann_defaults

param set-default BAT1_N_CELLS 3
param set-default NAV_ACC_RAD 0.5

# Ackermann Parameters
param set-default RA_WHEEL_BASE 0.321
param set-default RA_ACC_RAD_GAIN 2
param set-default RA_ACC_RAD_MAX 3
param set-default RA_MAX_STR_ANG 0.5236
param set-default RA_STR_RATE_LIM 270

# Rover Control Parameters
param set-default RO_ACCEL_LIM 1.5
param set-default RO_DECEL_LIM 10
param set-default RO_JERK_LIM 20
param set-default RO_MAX_THR_SPEED 2.8

# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0
param set-default RO_YAW_RATE_P 0
param set-default RO_YAW_RATE_LIM 0

# Rover Attitude Control Parameters
param set-default RO_YAW_P 0

# Rover Position Control Parameters
param set-default RO_SPEED_LIM 2.5
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1

# Pure pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1.5
